---
license: mit
task_categories:
- robotics
tags:
- simulation
- 3d
- scene-generation
---

# SceneSmith Preprocessed Data

This repository contains preprocessed assets and embeddings for the paper [SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes](https://huggingface.co/papers/2602.09153).

[Project Page](https://scenesmith.github.io/) | [GitHub](https://github.com/nepfaff/scenesmith) | [arXiv](https://arxiv.org/abs/2602.09153)

SceneSmith is a hierarchical agentic framework that generates simulation-ready indoor environments from natural language prompts. This dataset repository provides the preprocessed data required for the framework, including articulated objects and material embeddings.

## Dataset Description

The artifacts in this repository include:
- **ArtVIP Assets**: Preprocessed articulated furniture (cabinets, drawers, etc.) converted to Drake SDFormat with collision geometries and CLIP embeddings.
- **AmbientCG Embeddings**: Pre-computed CLIP embeddings for free CC0 PBR materials from [AmbientCG](https://ambientcg.com/), used for semantic material retrieval during scene generation.

## Sample Usage

You can download specific parts of the dataset using the `huggingface-cli`.

### Download ArtVIP Assets
To download the VHACD variant (recommended for tighter collision geometries):

```bash
huggingface-cli download nepfaff/scenesmith-preprocessed-data \
    artvip/artvip_vhacd.tar.gz --repo-type dataset --local-dir .
mkdir -p data/artvip_sdf
tar xzf artvip/artvip_vhacd.tar.gz -C data/artvip_sdf
```

Alternatively, to download the CoACD variant (which can produce faster simulations):
```bash
huggingface-cli download nepfaff/scenesmith-preprocessed-data \
    artvip/artvip_coacd.tar.gz --repo-type dataset --local-dir .
mkdir -p data/artvip_sdf
tar xzf artvip/artvip_coacd.tar.gz -C data/artvip_sdf
```

### Download AmbientCG Material Embeddings

```bash
huggingface-cli download nepfaff/scenesmith-preprocessed-data \
    --repo-type dataset \
    --include "ambientcg/embeddings/**" \
    --local-dir data/scenesmith-preprocessed-data
mv data/scenesmith-preprocessed-data/ambientcg/embeddings data/materials/embeddings
```

## Citation

```bibtex
@misc{scenesmith2026,
  title={SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes},
  author={Nicholas Pfaff and Thomas Cohn and Sergey Zakharov and Rick Cory and Russ Tedrake},
  year={2026},
  eprint={2602.09153},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2602.09153},
}
```